Mobile robot charging system

Abstract

The utility model discloses a mobile robot charging system which comprises a charging pile and a mobile robot. The charging pile comprises a first charging assembly, a first charging contact and a first magnetic part. The mobile robot comprises a second charging assembly, a second charging contact and a second magnetic part; the first charging contact comprises a first contact surface and is internally provided with an inclined sliding groove, the first magnetic part is slidably arranged in the inclined sliding groove, and the inclined sliding groove is configured to enable the first magnetic part to slide upwards along the inclined sliding groove under the action of magnetic force between the first magnetic part and the second magnetic part under the condition that the second charging contact is close to the first charging contact. Under the condition that the second charging contact is far away from the first charging contact, the first magnetic piece can slide downwards to be far away from the first contact surface under the action of gravity; and when the mobile robot moves to the charging pile for charging, the first charging contact and the second charging contact are kept in contact under the action of magnetic force between the first magnetic part and the second magnetic part. Therefore, the charging stability can be maintained.

Description

Technical Field

[0001] The present application relates to the technical field of robot charging structures, and more specifically, to a mobile robot charging system. Background Art

[0002] When the mobile robot is charging, it needs to move to the charging pile for charging docking, so that the charging contact points of the mobile robot and the charging pile touch each other and then charging begins. However, due to the slope or poor flatness of the ground and the insufficient movement control accuracy of the mobile robot, the charging contact points of the mobile robot and the charging pile are only partially in contact, so that after entering the charging state, the charging contact points of the mobile robot and the charging pile are separated, making the charging of the mobile robot unstable. Utility Model Content

[0003] An embodiment of the present application provides a mobile robot charging system.

[0004] The mobile robot charging system of the embodiment of the present application includes a mobile robot and a charging pile. The charging pile includes a first charging component, the first charging component includes a first charging contact and a first magnetic part; the mobile robot includes a second charging component, the second charging component includes a second charging contact and a second magnetic part; the first charging contact includes a first contact surface, an inclined slide groove is provided inside the first charging contact, and the first magnetic part is slidably provided in the inclined slide groove, and the inclined slide groove is configured as follows: when the second charging contact is close to the first charging contact, the first magnetic part can slide upward along the inclined slide groove under the action of the magnetic force between the first magnetic part and the second magnetic part to approach the first contact surface, and when the second charging contact is away from the first charging contact, the first magnetic part can slide downward away from the first contact surface under the action of gravity; when the mobile robot moves to the charging pile for charging, the first charging contact maintains contact with the second charging contact under the action of the magnetic force between the first magnetic part and the second magnetic part.

[0005] In this way, when the mobile robot is charging, the mobile robot moves to dock with the charging pile so that the first charging contact contacts the second charging contact. At this time, the first magnetic member and the second magnetic member attract each other through magnetic force so that the first charging contact and the second charging contact remain in contact. In this way, when the power of the mobile robot is turned off, the first charging contact and the second charging contact can still remain in contact, ensuring the stability of charging, while there is no charging loss, improving the charging efficiency and environmental protection of the mobile robot.

[0006] In some embodiments, the first charging component includes a fixed seat, a slide plate and an elastic member, the fixed seat includes a smooth groove, the slide plate is slidably arranged in the smooth groove, the first charging contact is fixed on the slide plate, the first contact surface extends out of the smooth groove, and the elastic member is arranged in the smooth groove to connect the slide plate and the fixed seat; when the mobile robot moves to the charging pile for charging, under the action of the magnetic force between the first magnetic member and the second magnetic member, the first charging contact can drive the slide plate to slide to the outside of the smooth groove, and when the second charging contact is away from the first charging contact, the elastic member can pull the slide plate to slide to the inside of the smooth groove.

[0007] In this way, when the mobile robot is charging, the first charging contact can, with the cooperation of the first magnetic member and the second magnetic member, allow the skateboard to move in the second slide groove and partially extend out of the second slide groove, so that the first charging contact can contact the second charging contact, and when docking, the elastic member can prevent the first charging contact from moving in the second slide groove under the pressure of the second charging contact. After the mobile robot is charged, the first charging contact can enter the charging pile with the movement of the skateboard in the second slide groove, which can prevent the first charging contact from being contaminated, thereby ensuring the stability of charging of the mobile robot and the charging pile.

[0008] In some embodiments, a receiving groove is provided inside the second charging contact, and the second magnetic member is fixed in the receiving groove.

[0009] In this way, by setting a storage groove inside the second charging contact and fixing the second magnetic part in the storage groove, the second charging contact can cooperate with the first charging contact, and under the magnetic force of the first magnetic part and the second magnetic part, the first charging contact and the second charging contact remain in contact.

[0010] In some embodiments, the first charging contact and / or the second charging contact is made of copper or graphite.

[0011] In this way, by selecting copper or graphite as the material of the first charging contact and the second charging contact, the first charging contact and the second charging contact have high conductivity and low resistivity, and can effectively conduct current.

[0012] In some embodiments, the first charging component includes a first charging cable, a charging controller and a first modem module, the second charging component includes a second charging cable, a battery manager and a second modem module, the first charging cable is connected to the first charging contact, the second charging cable is connected to the second charging contact, the first modem module connects the first charging cable and the charging controller, the second modem module connects the second charging cable and the battery manager, the first modem module and the second modem module cooperate to modulate the communication signal generated by the charging controller or the battery manager onto the current signal transmitted by the first charging cable and the second charging cable, or to demodulate the communication signal from the current signal.

[0013] Thus, by setting up a modulation and demodulation module in the mobile robot and the charging pile, and coupling the communication signal with the current signal, the mobile robot and the charging pile do not need to set up extra communication contacts, and the communication between the mobile robot and the charging pile can be realized, which simplifies the structure and saves costs. Moreover, by realizing communication through the charging contacts, there is no need to worry about the possibility of communication disconnection, thereby improving the stability of communication.

[0014] In some embodiments, the first modulation and demodulation module includes a first modulation circuit, a first coupling circuit and a first demodulation circuit, and the second modulation and demodulation module includes a second modulation circuit, a second coupling circuit and a second demodulation circuit; the first modulation circuit is used to modulate the communication signal generated by the charging controller into a first high-frequency carrier signal, the first coupling circuit is used to couple the first high-frequency carrier signal to the current signal, the second modulation circuit is used to modulate the communication signal generated by the battery manager into a second high-frequency carrier signal, the second coupling circuit is used to couple the second high-frequency carrier signal to the current signal, the first demodulation circuit is used to demodulate the second high-frequency carrier signal from the current signal, and the second demodulation circuit is used to demodulate the first high-frequency carrier signal from the current signal.

[0015] In this way, by setting up a modulation circuit, a coupling circuit and a demodulation circuit in the mobile robot and the charging pile, the communication signal can be modulated into a high-frequency carrier signal and coupled with the current signal, and then the high-frequency carrier signal can be demodulated from the current signal by the demodulation circuit. This makes it possible for the mobile robot and the charging pile to communicate with each other without having to set up additional communication contacts, thereby simplifying the structure and saving costs.

[0016] In some embodiments, the first charging component further includes a first filter, and the second charging component further includes a second filter; the first filter is used to filter out noise for the second high-frequency carrier signal, and the second filter is used to filter out noise for the first high-frequency carrier signal.

[0017] In this way, by setting a filter in the charging component, the noise mixed in when the communication signal is modulated into a high-frequency carrier signal in the modulation circuit can be filtered out, thereby ensuring the purity of the high-frequency carrier signal and preventing the loss of signal content.

[0018] In some embodiments, the second charging component further includes an ideal diode circuit, wherein a cathode of the ideal diode circuit is connected to a positive electrode of a battery of the mobile robot, and an anode of the ideal diode circuit is connected to a positive electrode of the second charging contact.

[0019] In this way, by connecting an ideal diode circuit in series on the circuit of the positive electrode of the mobile robot's battery, the current in the circuit can only flow into the positive electrode of the battery and cannot flow out from the positive electrode of the battery, thereby avoiding problems such as sparking, contact melting and deformation, contact scorching, component damage, etc. caused by circuit short circuit. It can also avoid the problem that when the connection between the mobile robot and the charging pile is unstable, the current is prone to sparks between the contacts, causing oxides to adhere to the contacts, which will gradually increase the contact resistance between the contacts over time, causing the mobile robot to heat up during charging and reduce the charging efficiency.

[0020] In some embodiments, the ideal diode circuit includes a metal oxide semiconductor field effect transistor and a switch, and the switch controls the metal oxide semiconductor field effect transistor to be turned on and off.

[0021] In this way, by forming an ideal diode circuit consisting of a metal oxide semiconductor field effect transistor and a switch, the structure is simple and the volume is small, and a large amount of space in the charging component will not be occupied, thereby reducing costs.

[0022] In some embodiments, the first magnetic member is a raw magnet, and the second magnetic member is a raw magnet and / or a magnetic material such as iron, nickel, and cobalt.

[0023] In this way, by determining the first magnetic part as a raw magnet and the second magnetic part as a magnetic material that can be affected by the magnetic force of the raw magnet, compared with using an electromagnet to maintain contact between the first charging contact and the second charging contact, using a raw magnet can simplify the structure and save costs.

[0024] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0026] Figure 1 is a plan view of a mobile robot charging system according to certain embodiments of the present application;

[0027] Figure 2 is a plan view of a mobile robot charging system according to certain embodiments of the present application;

[0028] Figure 3 is a plan view of a first modem module and a second modem module of certain embodiments of the present application;

[0029] Figure 4 is a schematic plan view of a mobile robot according to certain embodiments of the present application;

[0030] Figure 5 is a plan view schematic diagram of an ideal diode circuit according to some embodiments of the present application.

[0031] Figure Number:

[0032] 100. Mobile robot charging system; 10. Charging pile; 11. First charging component; 111. First charging contact; 1111. First contact surface; 1112. Inclined slide groove; 112. First magnetic member; 113. Fixed seat; 1131. Smooth groove; 1132. Limiting groove; 114. Slide plate; 115. Elastic member; 116. First charging line; 117. Charging controller; 118. First modulation and demodulation module; 1181. First modulation circuit; 1182. First coupling circuit; 1183. First demodulation circuit; 119. First filter; 2 0. Mobile robot; 21. Second charging component; 211. Second charging contact; 2111. Second contact surface; 2112. Storage slot; 212. Second magnetic member; 22. Controller; 213. Second charging cable; 214. Battery manager; 215. Second modulation and demodulation module; 2151. Second modulation circuit; 2152. Second coupling circuit; 2153. Second demodulation circuit; 216. Second filter; 23. Ideal diode circuit; 231. Metal oxide semiconductor field effect transistor; 232. Switch; 24. Battery; 30. Wire. DETAILED DESCRIPTION

[0033] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0034] In the description of the present application, it should be understood that the terms "thickness", "upper", "top", "bottom", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0035] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. In an example, it can be a fixed connection, or a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection, or they can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements.

[0036] In the embodiments of the present application, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] At present, in order to meet the requirements of continuous work, mobile robots usually need to dock with charging piles to replenish the power of the mobile robots during idle time. When the mobile robot docks with the charging pile, since elastic parts are set in the charging contacts of both, the mobile robot will squeeze the elastic parts to generate elastic force when moving toward the charging pile. After the mobile robot stops docking, the connection between the charging contacts is maintained by the elastic force of the elastic parts and the friction of the wheels of the mobile robot. However, the current mobile robots need to consume additional electric energy to keep the friction and elastic force of the wheels the same during the charging process, resulting in low charging efficiency and environmental pollution of the mobile robots. And when the error of the motion control of the mobile robot is large, continuous movement may cause unstable contact of the charging contacts, resulting in unstable charging.

[0038] To do this, see Figure 1 The mobile robot charging system 100 of the embodiment of the present application includes a mobile robot 20 and a charging pile 10. The charging pile 10 includes a first charging component 11, and the first charging component 11 includes a first charging contact 111 and a first magnetic member 112; the mobile robot 20 includes a second charging component 21, and the second charging component 21 includes a second charging contact 211 and a second magnetic member 212; the first charging contact 111 includes a first contact surface 1111, and an inclined slide groove 1112 is provided inside the first charging contact 111, and the first magnetic member 112 is slidably provided in the inclined slide groove 1112, and the inclined slide groove 1112 is configured as follows: when the second charging contact 211 is close to the first charging contact 111 In this case, the first magnetic member 112 can slide upward along the inclined slot 1112 under the action of the magnetic force between the first magnetic member 112 and the second magnetic member 212 to approach the first contact surface 1111. When the second charging contact 211 is away from the first charging contact 111, the first magnetic member 112 can slide downward away from the first contact surface 1111 under the action of gravity. When the mobile robot 20 moves to the charging pile 10 for charging, the first charging contact 111 maintains contact with the second charging contact 211 under the action of the magnetic force between the first magnetic member 112 and the second magnetic member 212.

[0039] In this way, when the mobile robot 20 is charged, the mobile robot 20 moves to dock with the charging pile 10, so that the first charging contact 111 contacts the second charging contact 211. At this time, the first magnetic member 112 and the second magnetic member 212 attract each other through magnetic force, so that the first charging contact 111 and the second charging contact 211 remain in contact. In this way, when the power of the mobile robot 20 is turned off, the first charging contact 111 and the second charging contact 211 can still maintain contact, ensuring the stability of charging, and there is no charging loss, thereby improving the charging efficiency and environmental protection of the mobile robot 20.

[0040] Specifically, the charging pile 10 can be a charging device that stores electric energy and can provide electric energy supplement to electric equipment. The charging pile 10 includes a first charging component 11, which can be used to connect the electric equipment and transmit the electric energy stored in the charging pile 10 to the electric equipment. The first charging component 11 includes a first charging contact 111 and a first magnetic part 112. Among them, the first charging contact 111 can be made of a conductive material such as copper or graphite, so that the first charging contact 111 has high conductivity and low resistivity, and can effectively conduct current. After the first charging contact 111 is connected to the charging contact of the electric equipment, the current can flow into the charging contact of the electric equipment through the first charging contact 111. And the shape of the first charging contact 111 can be cylindrical or circular.

[0041] The first magnetic member 112 may be a raw magnet, so that the first magnetic member 112 can be used to attract the magnetic material of the electric device, and when the electric device is charged, the first magnetic member 112 can be used to maintain the contact between the charging contacts. Compared with the first magnetic member 112 using an electromagnet to maintain the contact between the first charging contact 111 and the second charging contact 211, the use of a raw magnet can simplify the structure and save costs.

[0042] The mobile robot 20 may be an autonomous mobile robot (AMR), an automated guided vehicle (AGV), a gripper, a tractor, a forklift, a reach stacker, a storage robot or other mobile device. The mobile robot 20 includes a second charging component 21, which can be used to connect to the charging pile 10 and receive and store the electric energy transmitted by the charging pile 10 into the battery 24 of the mobile robot 20. The second charging component 21 includes a second charging contact 211 and a second magnetic member 212. Among them, the second charging contact 211 can be made of a conductive material such as copper sheet or graphite, so that the second charging contact 211 has high conductivity and low resistivity and can effectively conduct current. After the second charging contact 211 is connected to the first charging contact 111 of the charging pile 10, the current of the first charging contact 111 can flow into the second charging contact 211. Furthermore, the shape of the second charging contact 211 may be a cylinder or a circular surface, so that the shape of the second charging contact 211 can match the shape of the first charging contact 111 .

[0043] A storage groove 2112 is provided inside the second charging contact 211, and the second magnetic member 212 is fixed in the storage groove 2112. The second magnetic member 212 can be a raw magnet or a magnetic material such as iron, nickel and cobalt with a magnetic pole opposite to that of the first magnetic member 112, so that the second magnetic member 212 and the first magnetic member 112 can attract each other, and when the mobile robot 20 moves to the charging pile 10 for charging, the first magnetic member 112 can cooperate with the second magnetic member 212 through magnetic force, so that the first charging contact 111 and the second charging contact 211 maintain contact. Compared with the second magnetic member 212 using an electromagnet to maintain contact between the first charging contact 111 and the second charging contact 211, the use of a raw magnet can simplify the structure and save costs.

[0044] The first charging contact 111 includes a first contact surface 1111, and the second charging contact 211 includes a second contact surface 2111. When the first contact surface 1111 contacts the second contact surface 2111, the first charging contact 111 can contact the second charging contact 211. An inclined slide groove 1112 is formed inside the first charging contact 111. The size of the inclined slide groove 1112 matches the size of the first magnetic member 112, so that the first magnetic member 112 can move in the inclined slide groove 1112, and the guide of the inclined slide groove 1112 intersects with the horizontal direction, that is, the inclined slide groove 1112 has a slope, so that the first magnetic member 112 can move in the inclined slide groove 1112 under the action of gravity.

[0045] When the mobile robot 20 is docked with the charging pile 10, that is, the first charging contact 111 is in contact with the second charging contact 211, the first magnetic part 112 and the second magnetic part 212 are attracted to each other under the action of magnetic force. Since the second magnetic part 212 is fixed on the second charging contact 211, the first magnetic part 112 can slide in the inclined groove 1112 toward the first contact surface 1111 under the action of magnetic force.

[0046] When the mobile robot 20 is fully charged, that is, the first charging contact 111 and the second charging contact 211 are separated from each other, the distance between the first magnetic part 112 and the second magnetic part 212 increases, which reduces the magnetic force between the first magnetic part 112 and the second magnetic part 212. The first magnetic part 112 slides away from the first contact surface 1111 in the inclined groove 1112 under the action of gravity.

[0047] In this way, when the mobile robot 20 is docked with the charging pile 10, the first magnetic part 112 can move to the end close to the first contact surface 1111 in the inclined slot 1112 under the action of magnetic force, thereby driving the first charging contact 111 to contact the second charging contact 211. When the mobile robot 20 is fully charged and leaves, since the first magnetic part 112 does not have the suction force of the second magnetic part 212, the first magnetic part 112 moves to the end away from the first contact surface 1111 in the inclined slot 1112 under the action of gravity, which can reduce the magnetic force on the first contact surface 1111, thereby removing the magnetic debris adsorbed on the surface of the first charging contact 111 by the magnetic force of the first magnetic part 112, and preventing the resistance of the first charging contact 111 from increasing.

[0048] Optionally, see Figure 1 In some embodiments, the mobile robot 20 includes a controller 22, and the controller 22 is used to control the mobile robot 20 to stop moving after docking with the charging pile 10.

[0049] In this way, the controller 22 in the mobile robot 20 can control the battery 24 of the mobile robot 20 to shut down after the mobile robot 20 is docked with the charging pile 10, thereby stopping the mobile robot 20 from moving. The mobile robot 20 does not need to consume extra power to maintain docking, thereby improving the charging efficiency and environmental protection of the mobile robot 20.

[0050] Specifically, the mobile robot 20 also includes a controller 22, which may be a central processing unit (CPU). The controller 22 can control the movement of the mobile robot 20. For example, after the mobile robot 20 is successfully docked with the charging pile 10, that is, after the first charging contact 111 is in contact with the second charging contact 211, the controller 22 controls the mobile robot 20 to stop supplying power to the motor of the mobile robot 20, so that the mobile robot 20 stops moving.

[0051] See also Figure 1In some embodiments, the first charging component 11 includes a fixed seat 113, a slide plate 114 and an elastic member 115, the fixed seat 113 includes a smooth groove 1131, the slide plate 114 is slidably arranged in the smooth groove 1131, the first charging contact 111 is fixed on the slide plate 114, the first contact surface 1111 extends out of the smooth groove 1131, and the elastic member 115 is arranged in the smooth groove 1131 to connect the slide plate 114 and the fixed seat 113; when the mobile robot 20 moves to the charging pile 10 for charging, under the action of the magnetic force between the first magnetic member 112 and the second magnetic member 212, the first charging contact 111 can drive the slide plate 114 to slide to the outside of the smooth groove 1131, and when the second charging contact 211 is away from the first charging contact 111, the elastic member 115 can pull the slide plate 114 to slide to the inside of the smooth groove 1131.

[0052] In this way, when the mobile robot 20 is charging, the first charging contact 111 can cooperate with the first magnetic member 112 and the second magnetic member 212 to allow the slide plate 114 to move in the smooth groove 1131 and partially extend out of the smooth groove 1131, so that the first charging contact 111 can contact the second charging contact 211, and when docking, the elastic member 115 can prevent the first charging contact 111 from moving in the smooth groove 1131 under the pressure of the second charging contact 211. After the mobile robot 20 is charged, the first charging contact 111 can enter the interior of the charging pile 10 with the movement of the slide plate 114 in the smooth groove 1131, which can prevent the first charging contact 111 from being contaminated, thereby ensuring the charging stability of the mobile robot 20 and the charging pile 10.

[0053] Specifically, the first charging component 11 also includes a fixed seat 113 and a slide plate 114. A smooth groove 1131 is formed inside the fixed seat 113, and the guide of the smooth groove 1131 is substantially the same as the moving direction of the mobile robot 20, so that the first charging contact 111 can be directly opposite to the second charging contact 211. The smooth groove 1131 includes a limiting groove 1132, and the slide plate 114 is slidably arranged in the smooth groove 1131, that is, both ends of the slide plate 114 are arranged in the limiting groove 1132. The first charging contact 111 is provided on the slide plate 114, so that the slide plate 114 slides in the limiting groove 1132, which can be used to limit the movement of the first charging contact 111, so that at least part of the first charging contact 111 is deep outside the smooth groove 1131.

[0054] The first charging assembly 11 further includes an elastic member 115 , which may be an elastic object such as a spring or a rubber gasket. The elastic member 115 is arranged in the smooth groove 1131, and one end of the elastic member 115 is connected to the slide plate 114, and the other end of the elastic member 115 is connected to the fixed seat 113, so that when the mobile robot 20 is docked with the charging pile 10, due to the magnetic force between the first magnetic member 112 and the second magnetic member 212, the second charging contact 211 will move toward the first charging contact 111, and after the first charging contact 111 contacts the second charging contact 211, the second charging contact 211 will squeeze the first charging contact 111 so that the slide plate 114 moves in the smooth groove 1131. Since a spring is provided, the movement of the slide plate 114 in the smooth groove 1131 will squeeze the spring. When the spring is compressed, the first charging contact 111 moves toward the second charging contact 211, so that the first charging contact 111 and the second charging contact 211 can move back and forth under the action of the elastic force, thereby ensuring that the first charging contact 111 and the second charging contact 211 always keep in contact, thereby ensuring the stability of charging. Furthermore, the elastic member 115 can prevent the first charging contact 111 from being unable to partially extend out of the smooth groove 1131 due to external force when the first charging contact 111 is not in contact with the second charging contact 211 , thereby affecting the contact with the second charging contact 211 .

[0055] Optionally, see Figure 1 In some embodiments, the mobile robot charging system 100 further includes a wire 30, which is movably disposed in the smooth groove 1131 and passes through the slide plate 114 to connect with the first charging contact 111, so as to connect the first charging contact 111 to the charging circuit.

[0056] In this way, when the mobile robot 20 is charged, by keeping the first charging contact 111 in contact with the second charging contact 211, the current in the charging pile 10 can flow through the first charging contact 111 through the wire 30, and then flow from the first charging contact 111 to the wire 30 connected to the second charging contact 211, thereby enabling the mobile robot 20 to be charged.

[0057] Specifically, the mobile robot charging system 100 also includes a wire 30, that is, the first charging component 11 and the second charging component 21 both include a wire 30, and the wire 30 can be used to transport current. The wire 30 included in the first charging component 11 can be movably arranged in the smooth groove 1131, and one end of the wire 30 can pass through the slide plate 114 and connect to the first charging contact 111, and the other end of the wire 30 can be connected to the charging line in the charging pile 10, so that the first charging contact 111 can be connected to the charging line in the charging pile 10 through the wire 30.

[0058] One end of the wire 30 included in the second charging component 21 can be connected to the second charging contact 211, and the other end of the wire 30 can be connected to the charging circuit of the mobile robot 20, so that the second charging contact 211 can be connected to the charging circuit in the mobile robot 20 through the wire 30.

[0059] See also Figure 2 and Figure 3 In some embodiments, the first charging component 11 includes a first charging line 116, a charging controller 117 and a first modulation and demodulation module 118, and the second charging component 21 includes a second charging line 213, a battery manager 214 and a second modulation and demodulation module 215. The first charging line 116 is connected to the first charging contact 111, and the second charging line 213 is connected to the second charging contact 211. The first modulation and demodulation module 118 connects the first charging line 116 and the charging controller 117, and the second modulation and demodulation module 215 connects the second charging line 213 and the battery manager 214. The first modulation and demodulation module 118 and the second modulation and demodulation module 215 cooperate to modulate the communication signal generated by the charging controller 117 or the battery manager 214 to the current signal transmitted by the first charging line 116 and the second charging line 213, or to demodulate the communication signal from the current signal.

[0060] Thus, by setting a modulation and demodulation module in the mobile robot 20 and the charging pile 10, and coupling the communication signal with the current signal, the mobile robot 20 and the charging pile 10 do not need to set up extra communication contacts, and the communication between the mobile robot 20 and the charging pile 10 can be realized, which simplifies the structure and saves costs. Moreover, by realizing communication through charging contacts, there is no need to worry about the possibility of communication disconnection, thereby improving the stability of communication.

[0061] Specifically, the first charging component 11 includes a first charging line 116, a charging controller 117 and a first modulation and demodulation module 118. The first charging line 116 is connected to the charging line of the charging pile 10, and the first charging line 116 can be used to transmit current signals; the charging controller 117 can be a microcontroller unit (MCU) or a communication chip, and the charging controller 117 can be connected to the first modulation and demodulation module 118, and the charging controller 117 can send the generated communication signal for controlling the charging of the charging pile 10 to the first modulation and demodulation module 118. The first modulation and demodulation module 118 is connected in parallel to the first charging line 116, and the first modulation and demodulation module 118 can encode the received communication signal into a high-frequency carrier signal coupled to the current signal on the first charging line 116, and demodulate the communication signal coupled on the first charging line 116 into a high-frequency carrier signal and a current signal, and send the high-frequency carrier signal to the charging controller 117. The first modulation and demodulation module 118 includes a first modulation circuit 1181, a first coupling circuit 1182, a first demodulation circuit 1183 and a first filter 119. The first modulation circuit 1181 is connected to the first filter 119, and the first demodulation circuit 1183 is connected to the first filter 119. The first modulation circuit 1181 modulates the communication signal generated by the charging controller 117 into a first high-frequency carrier signal, and the first filter 119 can filter out the noise included in the first high-frequency carrier signal. Then, the first coupling circuit 1182 couples the first high-frequency carrier signal to the current signal on the first charging line 116, and the first demodulation circuit 1183 is used to demodulate the second high-frequency carrier signal from the current signal.

[0062] The second charging component 21 includes a second charging line 213, a battery manager 214, and a second modulation and demodulation module 215. The second charging line 213 is connected to the charging line of the mobile robot 20, and the second charging line 213 can be used to transmit current signals; the battery manager 214 can be a battery management system (BMS), and the battery manager 214 can be connected to the second modulation and demodulation module 215, and the battery manager 214 can send the generated communication signal for controlling the charging of the mobile robot 20 to the second modulation and demodulation module 215; the second modulation and demodulation module 215 is connected in parallel to the second charging line 213, and the second modulation and demodulation module 215 can encode the received communication signal into a high-frequency carrier signal coupled to the current signal on the second charging line 213, and demodulate and separate the communication signal coupled on the second charging line 213 into a high-frequency carrier signal and a current signal, and send the high-frequency carrier signal to the battery manager 214. The second modulation and demodulation module 215 includes a second modulation circuit 2151, a second coupling circuit 2152, a second demodulation circuit 2153, and a second filter 216. The second modulation circuit 2151 is connected to the second filter 216, and the second demodulation circuit 2153 is connected to the second filter 216. The second modulation circuit 2151 modulates the communication signal generated by the battery manager 214 into a second high-frequency carrier signal. The second filter 216 can filter out the noise included in the second high-frequency carrier signal. Then the second coupling circuit 2152 couples the second high-frequency carrier signal to the current signal on the second charging line 213. The second demodulation circuit 2153 is used to demodulate the first high-frequency carrier signal from the current signal.

[0063] See also Figure 4 and Figure 5 In some embodiments, the second charging component 21 includes an ideal diode circuit 23, the cathode of the ideal diode circuit 23 is connected in series with the positive electrode of the battery 24, and the anode of the ideal diode circuit 23 is connected to the positive electrode of the second charging contact 211.

[0064] In this way, by connecting an ideal diode circuit 23 in series on the circuit of the positive electrode of the battery 24 of the mobile robot 20, the current in the circuit can only flow into the positive electrode of the battery 24 and cannot flow out from the positive electrode of the battery 24, thereby avoiding problems such as sparking, contact melting and deformation, contact scorching, component damage, etc. caused by circuit short circuit. It can also avoid the problem that when the connection between the mobile robot 20 and the charging pile 10 is unstable, the current is prone to generate sparks between the contacts, causing oxides to adhere to the contacts, which will cause the contact resistance between the contacts to gradually increase over time, causing the mobile robot 20 to heat up during charging and reduce the charging efficiency.

[0065] Specifically, the second charging component 21 also includes an ideal diode circuit 23, which can be composed of components such as diodes, resistors, capacitors, field effect transistors, and transformers. For example, the ideal diode circuit 23 can be composed of a metal oxide semiconductor field effect transistor 231 and a switch 232, wherein the metal oxide semiconductor field effect transistor 231 can be an NMOS tube, and the switch 232 can be a high-voltage ideal diode controller. The ideal diode circuit 23 is connected in series to the line between the positive electrode of the second charging contact 211 and the positive electrode of the battery 24 of the mobile robot 20, that is, the cathode of the ideal diode circuit 23 is connected to the positive electrode of the battery 24 of the mobile robot 20, and the anode of the ideal diode circuit 23 is connected to the positive electrode of the second charging contact 211. Thus, the ideal diode circuit 23 can control the current to flow only from the positive electrode of the second charging contact 211 to the positive electrode of the battery 24 of the mobile robot 20, and the current cannot flow from the positive electrode of the battery 24 to the positive electrode of the second charging contact 211.

[0066] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0067] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0068] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are optional and cannot be understood as limitations to the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A mobile robot charging system, characterized in that: include: A charging pile, the charging pile comprising a first charging component, the first charging component comprising a first charging contact and a first magnetic member; A mobile robot, the mobile robot comprising a second charging component, the second charging component comprising a second charging contact and a second magnetic member; The first charging contact comprises a first contact surface, an inclined slide groove is arranged inside the first charging contact, the first magnetic member is slidably arranged in the inclined slide groove, and the inclined slide groove is configured such that: when the second charging contact is close to the first charging contact, the first magnetic member can slide upward along the inclined slide groove under the action of the magnetic force between the first magnetic member and the second magnetic member to approach the first contact surface, and when the second charging contact is away from the first charging contact, the first magnetic member can slide downward away from the first contact surface under the action of gravity; When the mobile robot moves to the charging pile for charging, the first charging contact and the second charging contact maintain contact under the action of the magnetic force between the first magnetic member and the second magnetic member.

2. The mobile robot charging system according to claim 1, characterized in that: The first charging component includes a fixed seat, a slide plate and an elastic member, the fixed seat includes a smooth groove, the slide plate is slidably arranged in the smooth groove, the first charging contact is fixed on the slide plate, the first contact surface extends out of the smooth groove, and the elastic member is arranged in the smooth groove to connect the slide plate and the fixed seat; When the mobile robot moves to the charging pile for charging, under the action of the magnetic force between the first magnetic part and the second magnetic part, the first charging contact can drive the slide plate to slide outside the smooth groove. When the second charging contact is away from the first charging contact, the elastic part can pull the slide plate to slide inside the smooth groove.

3. The mobile robot charging system according to claim 1, characterized in that: A receiving groove is provided inside the second charging contact, and the second magnetic member is fixed in the receiving groove.

4. The mobile robot charging system according to claim 1, characterized in that: The first charging contact and / or the second charging contact are made of copper or graphite.

5. The mobile robot charging system according to claim 1, characterized in that: The first charging component includes a first charging line, a charging controller and a first modem module, and the second charging component includes a second charging line, a battery manager and a second modem module, the first charging line is connected to the first charging contact, the second charging line is connected to the second charging contact, the first modem module is connected to the first charging line and the charging controller, and the second modem module is connected to the second charging line and the battery manager; The first modulation and demodulation module cooperates with the second modulation and demodulation module to modulate the communication signal generated by the charging controller or the battery manager onto the current signal transmitted by the first charging line and the second charging line, or to demodulate the communication signal from the current signal.

6. The mobile robot charging system according to claim 5, characterized in that: The first modulation and demodulation module includes a first modulation circuit, a first coupling circuit and a first demodulation circuit, and the second modulation and demodulation module includes a second modulation circuit, a second coupling circuit and a second demodulation circuit; The first modulation circuit is used to modulate the communication signal generated by the charging controller into a first high-frequency carrier signal, the first coupling circuit is used to couple the first high-frequency carrier signal to the current signal, the second modulation circuit is used to modulate the communication signal generated by the battery manager into a second high-frequency carrier signal, the second coupling circuit is used to couple the second high-frequency carrier signal to the current signal, the first demodulation circuit is used to demodulate the second high-frequency carrier signal from the current signal, and the second demodulation circuit is used to demodulate the first high-frequency carrier signal from the current signal.

7. The mobile robot charging system according to claim 6, characterized in that: The first charging component further includes a first filter, and the second charging component further includes a second filter; The first filter is used to filter out noise for the second high-frequency carrier signal, and the second filter is used to filter out noise for the first high-frequency carrier signal.

8. The mobile robot charging system according to claim 1, characterized in that: The second charging component also includes an ideal diode circuit, a cathode of the ideal diode circuit is connected to the positive electrode of the battery of the mobile robot, and an anode of the ideal diode circuit is connected to the positive electrode of the second charging contact.

9. The mobile robot charging system according to claim 8, characterized in that: The ideal diode circuit includes a metal oxide semiconductor field effect transistor and a switch, and the switch controls the metal oxide semiconductor field effect transistor to be turned on and off.

10. The mobile robot charging system according to claim 1, characterized in that: The first magnetic member is a raw magnet, and the second magnetic member is a magnetic member of a magnetic material affected by the magnetic force of the first magnetic member, wherein the magnetic member is a magnetic member of a magnetic material selected from raw magnets, iron, nickel and cobalt.

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